#include <PIDDrone.h>

Inheritance diagram for APIDDrone:

[legend]

Collaboration diagram for APIDDrone:

[legend]

Public Member Functions
	APIDDrone ()

virtual EVehicleTypes	GetVehicleType () const override

virtual FTransform	GetInteractableWorldTransform_Implementation () const override

void	SetDroneAction (EDroneAction mode)
	Set drone's action (roaming, manual) More...

EDroneAction	GetDroneAction () const
	Get drone's action (roaming, manual) More...

FDroneParameters	GetDroneParameters () const

void	ChangeDroneParameters (const FDroneParameters &newParameters)

void	SetDroneParameters (const FDroneParameters &InParameters)

void	AddWayPoint (FVector Waypoint)

void	ClearWaypoints ()

void	SetFlightpath ()
	Called in tick function for drone roaming through points. More...

void	SetManualControl (bool value)

void	MoveDroneToPosition (const FTransform Transform)
	Override all drone roaming points and continue towards this position. More...

TArray< FTransform >	GenerateRoamingPoints (float radius, int32 roamingPoints)
	Generates a roadming points array for the drone in radius. More...

virtual void	SetCurrentTransformToMovedFromGarageTransform () override

void	SetShowForwardArrow (bool Show)

bool	GetShowForwardArrow () const

Public Member Functions inherited from AVehicle
	AVehicle ()

virtual EVehicleTypes	GetVehicleType () const

void	TogglePhysics (bool isOn)

void	TeleportVehicleTo (FVector NewLocation, FRotator NewRotation)

virtual void	TeleportVehicleTo_Implementation (FVector NewLocation, FRotator NewRotation)

void	ResetCamera ()

void	ToggleLights (bool isOn)

void	SetVisualizeVehicleOverlapArea (bool Visible)

FString	ExportToJsonFile (const FString &FileName)

void	SetVehicleIsInGarage (bool VehicleIsInGarage)

bool	IsVehicleInGarage () const

USensorsManagerComponent *	GetSensorsManager () const

ACollisionSensor *	GetCollisionSensor () const

ATransformSensor *	GetTransformSensor () const

AOverlapSensor *	GetOverlapSensor () const

FTransform	GetMovedFromGarageTransform () const

virtual void	SetCurrentTransformToMovedFromGarageTransform ()

virtual FText	GetInteractableName_Implementation () const override

virtual FTransform	GetInteractableWorldTransform_Implementation () const override

virtual FString	GetActorID_Implementation () const override

virtual FString	GetActorName_Implementation () const override

virtual FString	GetActorInformation_Implementation () const override

virtual void	SetActorName_Implementation (const FString &NewActorName) override

virtual void	SetActorIDAndName_Implementation (const FString &NewActorName, const FString &NewID) override

void	SetVehicleParameters (FWheeledVehicleParameters NewParameters)

FWheeledVehicleParameters	GetVehicleParameters () const

void	ApplyVehicleParameters (FWheeledVehicleParameters CurrentParameters)

virtual void	PossessedBy (AController *NewController) override

Public Member Functions inherited from IInteractable
FText	GetInteractableName () const

FTransform	GetInteractableWorldTransform () const

Public Member Functions inherited from IActorInformation
FString	GetActorID () const

FString	GetActorName () const

FString	GetActorInformation () const

void	SetActorName (const FString &NewActorName)

void	SetActorIDAndName (const FString &NewActorName, const FString &NewID)

Protected Member Functions
void	ROSBridgeStateChanged (EROSState ROSState) override

virtual void	BeginPlay () override

virtual void	EndPlay (const EEndPlayReason::Type EndPlayReason) override

virtual void	ROSBridgeStateChanged (EROSState ROSState)

Protected Attributes
UTopic *	ROSTopic = nullptr

TSharedPtr< ROSMessages::std_msgs::Float32 >	ROSMessage

Protected Attributes inherited from AVehicle
FWheeledVehicleParameters	VehicleParameters

TObjectPtr< USensorsManagerComponent >	SensorsManager

ACollisionSensor *	CollisionSensor = nullptr

ATransformSensor *	TransformSensor = nullptr

AOverlapSensor *	OverlapSensor = nullptr

UNiagaraComponent *	NiagaraComponent = nullptr

FString	ActorName

FString	ActorID

FTransform	OriginalCameraTransform

FTransform	MovedFromGarageTransform

bool	VehicleInGarage = false

Private Member Functions
virtual void	BeginPlay () override

virtual void	Tick (float DeltaTime) override

virtual void	EndPlay (const EEndPlayReason::Type EndPlayReason) override

void	CreateTopic ()

void	DestroyTopic ()

void	AutoPilot (const float DeltaTime)

void	AssignRoamingPoints (const TArray< FTransform > Points)

void	SetDroneRotation (USkeletalMeshComponent *target, FRotator rotator)

void	UpdateGroundHeight ()

bool	IsRoaming () const

void	SetDesiredLocationMesh (UStaticMeshComponent *meshcomponent)

FVector	GetCurrentWaypointTarget ()

Private Attributes
FDroneParameters	DroneParameters

EFlightMode	flightmode = EFlightMode::Roaming

UWorld *	World = nullptr

FVector	StartingPosition

USkeletalMeshComponent *	DroneSkeletalMesh = nullptr

UStaticMeshComponent *	PositionMesh = nullptr

TArray< FVector >	WayPoints

bool	waypointReached = false

bool	manualControl = false

bool	ShowForwardArrow = false

int32	passedWaypoints = 0

float	DroneHeightFromGround = 0.0f

Additional Inherited Members
Static Public Member Functions inherited from IActorInformation
static void	SetAndValidateActorIDAndName (FString &ActorName, FString &ActorID, TWeakObjectPtr< AActor > Actor)

static bool	DestroyActorByID (const FString &ID)

static AActor *	GetActorByID (const FString &ID)

template<typename T >
static TArray< T * >	GetActorsWithInterface ()

static void	PrintAllIds ()

Public Attributes inherited from AVehicle
FText	InteractableName

FVehicleGarageChangedDelegate	OnVehicleGarageChanged

Detailed Description

Definition at line 22 of file PIDDrone.h.

Constructor & Destructor Documentation

◆ APIDDrone()

APIDDrone::APIDDrone ( )

Definition at line 23 of file PIDDrone.cpp.

                     : Super()
{
    PrimaryActorTick.bCanEverTick = true;
    InteractableName = NSLOCTEXT("Agrarsense", "DroneInteractableName", "Drone");
}

References AVehicle::InteractableName.

Member Function Documentation

◆ AddWayPoint()

void APIDDrone::AddWayPoint ( FVector Waypoint )

inline

Definition at line 88 of file PIDDrone.h.

    {
        FTransform transform;
        transform.SetLocation(Waypoint);
 
        DroneParameters.Points.Add(transform);
    }

References FDroneParameters::Points.

◆ AssignRoamingPoints()

void APIDDrone::AssignRoamingPoints ( const TArray< FTransform > Points )

private

Definition at line 185 of file PIDDrone.cpp.

{
    ClearWaypoints();
 
    for (const FTransform& point : Points)
    {
        WayPoints.Add(point.GetLocation());
    }
}

References ClearWaypoints(), and WayPoints.

◆ AutoPilot()

void APIDDrone::AutoPilot ( const float DeltaTime )

private

Definition at line 80 of file PIDDrone.cpp.

{
    if (DroneParameters.DroneAction == EDroneAction::Stationary)
    {
        return;
    }
 
    SetFlightpath();
}

References FDroneParameters::DroneAction, DroneParameters, SetFlightpath(), and Stationary.

Referenced by Tick().

◆ BeginPlay()

void APIDDrone::BeginPlay ( )

overrideprivatevirtual

Reimplemented from AVehicle.

Definition at line 29 of file PIDDrone.cpp.

{
    Super::BeginPlay();
 
    World = GetWorld();
 
    ROSMessage.Reset();
    ROSMessage = MakeShared<ROSMessages::std_msgs::Float32>();
 
    CreateTopic();
 
    DroneSkeletalMesh = Cast<USkeletalMeshComponent>(GetComponentByClass(USkeletalMeshComponent::StaticClass()));
 
    PositionMesh = Cast<UStaticMeshComponent>(GetComponentByClass(UStaticMeshComponent::StaticClass()));
 
    StartingPosition = GetActorLocation();
 
 
    if (DroneSkeletalMesh && !TransformSensor) 
    {
        // Create Transform sensor for forwarder and harvester
        FTransformSensorParameters Params;
        Params.SaveTransformDataToDisk = true;
        Params.OwningActor = this;
        Params.UseOwningActorTransform = false;
        Params.PrimitiveComponent = Cast<UPrimitiveComponent>(DroneSkeletalMesh);
 
        FString VehicleTransformSensorID = ActorID + "/transform";
        TransformSensor = USensorFactory::SpawnTransformSensor(GetActorTransform(), Params, VehicleTransformSensorID, "transform", true, this);
    }
}

References AVehicle::ActorID, CreateTopic(), DroneSkeletalMesh, FTransformSensorParameters::OwningActor, PositionMesh, FTransformSensorParameters::PrimitiveComponent, ROSMessage, FTransformSensorParameters::SaveTransformDataToDisk, USensorFactory::SpawnTransformSensor(), StartingPosition, AVehicle::TransformSensor, FTransformSensorParameters::UseOwningActorTransform, and World.

◆ ChangeDroneParameters()

void APIDDrone::ChangeDroneParameters ( const FDroneParameters & newParameters )

inline

Definition at line 74 of file PIDDrone.h.

    {
#if WITH_EDITOR
        UE_LOG(LogTemp, Warning, TEXT("Parameters Changed!"));
#endif
        SetDroneParameters(newParameters);
    }

Referenced by USimulatorJsonParser::ParseAndSetDroneParameters().

◆ ClearWaypoints()

void APIDDrone::ClearWaypoints ( )

inline

Definition at line 97 of file PIDDrone.h.

    {
        DroneParameters.Points.Empty();
    }

Referenced by AssignRoamingPoints().

◆ CreateTopic()

void APIDDrone::CreateTopic ( )

private

Definition at line 318 of file PIDDrone.cpp.

{
    if (ROSTopic)
    {
        return;
    }
 
    UROSIntegrationGameInstance* ROSInstance = UAgrarsenseStatics::GetROSGameInstance(GetWorld());
    if (ROSInstance && ROSInstance->IsROSConnected())
    {
        ROSTopic = NewObject<UTopic>(UTopic::StaticClass());
        if (ROSTopic)
        {
 
            FString TopicName = FString::Printf(TEXT("/agrarsense/out/vehicles/%s/height"), *GetActorID_Implementation());
            //UE_LOG(LogTemp, Warning, TEXT("TopicName is %s"), *TopicName);
 
            ROSTopic->Init(ROSInstance->ROSIntegrationCore, TopicName, "std_msgs/Float32");
            ROSTopic->Advertise();
        }
    }
}

References AVehicle::GetActorID_Implementation(), UAgrarsenseStatics::GetROSGameInstance(), and ROSTopic.

Referenced by BeginPlay(), and ROSBridgeStateChanged().

◆ DestroyTopic()

void APIDDrone::DestroyTopic ( )

private

Definition at line 341 of file PIDDrone.cpp.

{
    if (ROSTopic)
    {
        ROSTopic->Unadvertise();
        ROSTopic->Unsubscribe();
        ROSTopic->MarkAsDisconnected();
        ROSTopic->ConditionalBeginDestroy();
        ROSTopic = nullptr;
    }
}

References ROSTopic.

Referenced by EndPlay(), and ROSBridgeStateChanged().

◆ EndPlay()

void APIDDrone::EndPlay ( const EEndPlayReason::Type EndPlayReason )

overrideprivatevirtual

Reimplemented from AVehicle.

Definition at line 61 of file PIDDrone.cpp.

{
    Super::EndPlay(EndPlayReason);
 
    ROSMessage.Reset();
    DestroyTopic();
}

References DestroyTopic(), and ROSMessage.

◆ GenerateRoamingPoints()

TArray< FTransform > APIDDrone::GenerateRoamingPoints	(	float	radius,
		int32	roamingPoints
	)

Generates a roadming points array for the drone in radius.

Parameters

radius radius of the roaming area

Returns: TArray<FVector>

Definition at line 280 of file PIDDrone.cpp.

{
    TArray<FTransform> generatedRoamingPoints;
    generatedRoamingPoints.Reserve(roamingPoints);
 
    FVector currentPosition = this->GetTransform().GetLocation();
 
    FVector min = currentPosition - FVector(radius / 2, radius / 2, 0);
    FVector max = currentPosition + FVector(radius / 2, radius / 2, 0);
 
    for (int32 i = 0; i < roamingPoints; i++)
    {
        FTransform randomPoint;
        randomPoint.SetLocation(FVector(FMath::RandRange(min.X, max.X), FMath::RandRange(min.Y, max.Y), 5000));
 
        generatedRoamingPoints.Add(randomPoint);
#if WITH_EDITOR
        UE_LOG(LogTemp, Warning, TEXT("Waypoint %i: (%s)"), i, *randomPoint.GetLocation().ToString());
#endif
    }
 
    return generatedRoamingPoints;
}

Referenced by SetFlightpath().

◆ GetCurrentWaypointTarget()

FVector APIDDrone::GetCurrentWaypointTarget ( )

private

Definition at line 174 of file PIDDrone.cpp.

{
    // UE_LOG(LogTemp, Warning, TEXT(" % s"), *DroneParameters.Points[passedWaypoints].GetLocation().ToString());
    if (DroneParameters.Points.Num() <= passedWaypoints)
    {
        return FVector(0, 0, 0);
    }
 
    return DroneParameters.Points[passedWaypoints].GetLocation();
}

References DroneParameters, passedWaypoints, and FDroneParameters::Points.

Referenced by SetFlightpath().

◆ GetDroneAction()

EDroneAction APIDDrone::GetDroneAction ( ) const

inline

Get drone's action (roaming, manual)

Returns: Drone's action

Definition at line 62 of file PIDDrone.h.

    {
        return DroneParameters.DroneAction;
    }

◆ GetDroneParameters()

FDroneParameters APIDDrone::GetDroneParameters ( ) const

inline

Definition at line 68 of file PIDDrone.h.

    {
        return DroneParameters;
    }

Referenced by USimulatorJsonExporter::SetDroneParameters().

◆ GetInteractableWorldTransform_Implementation()

virtual FTransform APIDDrone::GetInteractableWorldTransform_Implementation ( ) const

inlineoverridevirtual

Reimplemented from AVehicle.

Definition at line 36 of file PIDDrone.h.

    {
        if (DroneSkeletalMesh)
        {
            return DroneSkeletalMesh->GetComponentTransform();
        }
        else
        {
            return GetActorTransform();
        }
    }

◆ GetShowForwardArrow()

bool APIDDrone::GetShowForwardArrow ( ) const

inline

Definition at line 150 of file PIDDrone.h.

    {
        return ShowForwardArrow;
    }

◆ GetVehicleType()

virtual EVehicleTypes APIDDrone::GetVehicleType ( ) const

inlineoverridevirtual

Get type of the Vehicle

Returns: Vehicle's type

Reimplemented from AVehicle.

Definition at line 34 of file PIDDrone.h.

34{ return EVehicleTypes::Drone; }

EVehicleTypes::Drone

@ Drone

References Drone.

◆ IsRoaming()

bool APIDDrone::IsRoaming ( ) const

inlineprivate

Definition at line 187 of file PIDDrone.h.

    {
        return DroneParameters.DroneAction == EDroneAction::Roaming;
    }

References Roaming.

Referenced by SetFlightpath().

◆ MoveDroneToPosition()

void APIDDrone::MoveDroneToPosition ( const FTransform Transform )

Override all drone roaming points and continue towards this position.

Parameters

Transform drone move position

Definition at line 161 of file PIDDrone.cpp.

{
    if (DroneParameters.Points.Num() > 0)
    {
        DroneParameters.Points.Empty();
        DroneParameters.Points.Add(Transform);
    }
    else
    {
        DroneParameters.Points.Add(Transform);
    }
}

References DroneParameters, FDroneParameters::Points, and Transform.

◆ ROSBridgeStateChanged()

void APIDDrone::ROSBridgeStateChanged ( EROSState ROSState )

overrideprotectedvirtual

Reimplemented from AVehicle.

Definition at line 304 of file PIDDrone.cpp.

{
    switch (ROSState)
    {
    case EROSState::Connected:
        CreateTopic();
        break;
 
    case EROSState::Disconnected:
        DestroyTopic();
        break;
    }
}

References Connected, CreateTopic(), DestroyTopic(), and Disconnected.

◆ SetCurrentTransformToMovedFromGarageTransform()

virtual void APIDDrone::SetCurrentTransformToMovedFromGarageTransform ( )

inlineoverridevirtual

Reimplemented from AVehicle.

Definition at line 128 of file PIDDrone.h.

    {
        if (DroneSkeletalMesh)
        {
            MovedFromGarageTransform = DroneSkeletalMesh->GetComponentTransform();
            UE_LOG(LogTemp, Warning, TEXT("Moved from garage transform %s"), *MovedFromGarageTransform.ToString());
 
        }
        else
        {
            MovedFromGarageTransform = GetActorTransform();
            UE_LOG(LogTemp, Warning, TEXT("ACTOR Moved from garage transform WHAT IS THIS: %s"), *MovedFromGarageTransform.ToString());
 
        }
    }

◆ SetDesiredLocationMesh()

void APIDDrone::SetDesiredLocationMesh ( UStaticMeshComponent * meshcomponent )

inlineprivate

Definition at line 193 of file PIDDrone.h.

    {
        PositionMesh = meshcomponent;
    }

◆ SetDroneAction()

void APIDDrone::SetDroneAction ( EDroneAction mode )

inline

Set drone's action (roaming, manual)

Definition at line 52 of file PIDDrone.h.

    {
        DroneParameters.DroneAction = mode;
    }

◆ SetDroneParameters()

void APIDDrone::SetDroneParameters ( const FDroneParameters & InParameters )

inline

Definition at line 82 of file PIDDrone.h.

    {
        DroneParameters = InParameters;
    }

◆ SetDroneRotation()

void APIDDrone::SetDroneRotation	(	USkeletalMeshComponent *	target,
		FRotator	rotator
	)

private

Definition at line 195 of file PIDDrone.cpp.

{
    if (!target)
    {
        return;
    }
 
    FRotator currentRotation = target->GetRelativeRotation();
    FRotator rotationDifference = rotator - currentRotation;
 
    target->AddRelativeRotation(rotationDifference, false, nullptr, ETeleportType::TeleportPhysics);
 
    // Prevent locking up when using interp
    if (FMath::Abs(rotator.Pitch) < 0.001f)
    {
        rotator.Pitch = 0.0f;
    }
    if (FMath::Abs(rotator.Yaw) < 0.001f)
    {
        rotator.Yaw = 0.0f;
    }
    if (FMath::Abs(rotator.Roll) < 0.001f)
    {
        rotator.Roll = 0.0f;
    }
 
    // Corrected rotation
    target->SetRelativeRotation(rotator, false, nullptr, ETeleportType::TeleportPhysics);
}

◆ SetFlightpath()

void APIDDrone::SetFlightpath ( )

Called in tick function for drone roaming through points.

Definition at line 90 of file PIDDrone.cpp.

{
    // TODO: Check if in garage
    // include drone rotation to point
 
    // Don't try to fly if no waypoints
    if (DroneParameters.Points.Num() == 0 && IsRoaming())
    {
        DroneParameters.Points = GenerateRoamingPoints(50000, 10);
    }
 
    FVector waypoint = GetCurrentWaypointTarget();
    FVector currentlocation = DroneSkeletalMesh->GetRelativeTransform().GetLocation();
 
    if (PositionMesh)
    {
        // Doesn't work
        PositionMesh->SetWorldLocation(waypoint);
    }
#if WITH_EDITOR
    else
    {
        UE_LOG(LogTemp, Warning, TEXT("Desired location mesh not found"));
        //DrawDebugLine(World, currentlocation, waypoint, FColor::Red, false, 0.0f, 0.0f, 5.0f);
    }
#endif
 
    if (FVector2f::Distance(FVector2f(waypoint.X, waypoint.Y), FVector2f(currentlocation.X, currentlocation.Y)) < 1000)
    {
        waypointReached = true;
        if (passedWaypoints != DroneParameters.Points.Num() - 1)
        {
#if WITH_EDITOR
            UE_LOG(LogTemp, Warning, TEXT("Changing waypoint from %i to %i"), passedWaypoints, passedWaypoints + 1);
#endif
 
            passedWaypoints++;
        }
        else
        {
            if (DroneParameters.DroneAction == EDroneAction::Roaming)
            {
                DroneParameters.Points = GenerateRoamingPoints(50000, 10);
                passedWaypoints = 0;
            }
            else
            {
                switch (DroneParameters.DroneEndAction)
                {
                case EDroneEndAction::Stop:
                    DroneParameters.DroneAction = EDroneAction::Stationary;
                    break;
                case EDroneEndAction::GenerateRandomNew:
                    DroneParameters.Points = GenerateRoamingPoints(50000, 10);
                    passedWaypoints = 0;
                    break;
                case EDroneEndAction::RepeatFromBeginning:
                    passedWaypoints = 0;
                    break;
                case EDroneEndAction::GoBackwards:
                    Algo::Reverse(DroneParameters.Points);
                    passedWaypoints = 0;
                    break;
                default:
                    break;
                }
            }
        }
    }
}

References FDroneParameters::DroneAction, FDroneParameters::DroneEndAction, DroneParameters, DroneSkeletalMesh, GenerateRandomNew, GenerateRoamingPoints(), GetCurrentWaypointTarget(), GoBackwards, IsRoaming(), passedWaypoints, FDroneParameters::Points, PositionMesh, RepeatFromBeginning, Roaming, Stationary, Stop, and waypointReached.

Referenced by AutoPilot().

◆ SetManualControl()

void APIDDrone::SetManualControl ( bool value )

inline

Definition at line 109 of file PIDDrone.h.

    {
        manualControl = value;
    }

◆ SetShowForwardArrow()

void APIDDrone::SetShowForwardArrow ( bool Show )

inline

Definition at line 144 of file PIDDrone.h.

    {
        ShowForwardArrow = Show;
    }

Referenced by USimulatorJsonParser::ParseAndSetDroneParameters().

◆ Tick()

void APIDDrone::Tick ( float DeltaTime )

overrideprivatevirtual

Definition at line 69 of file PIDDrone.cpp.

{
    Super::Tick(DeltaTime);
 
    if (!IsVehicleInGarage())
    {
        AutoPilot(DeltaTime);
        UpdateGroundHeight();
    }
}

References AutoPilot(), AVehicle::IsVehicleInGarage(), and UpdateGroundHeight().

◆ UpdateGroundHeight()

void APIDDrone::UpdateGroundHeight ( )

private

Definition at line 225 of file PIDDrone.cpp.

{
    if (!DroneSkeletalMesh || !ROSTopic || !ROSMessage.IsValid())
    {
        return;
    }
 
    FVector Start = DroneSkeletalMesh->GetComponentLocation();
    FVector End = Start - FVector(0, 0, 10000.0f);
 
    FCollisionQueryParams TraceParams = FCollisionQueryParams(FName(TEXT("UpdateGroundHeight")), true, this);
    TraceParams.bReturnPhysicalMaterial = false;
    TraceParams.bTraceComplex = false;
 
    FHitResult HitResult;
 
#ifdef ParallelLineTraceSingleByChannel_EXISTS
    // Defined and implemented in our AGRARSENSE Unreal Engine fork
    // This LineTrace method doesn't block the physics scene which improves linetrace performance.
    World->ParallelLineTraceSingleByChannel(
        HitResult,
        Start,
        End,
        ECC_Visibility,
        TraceParams,
        FCollisionResponseParams::DefaultResponseParam);
#else
    // If not using our fork of the engine, use default LineTrace method.
    World->LineTraceSingleByChannel(
        HitResult,
        Start,
        End,
        ECC_Visibility,
        TraceParams,
        FCollisionResponseParams::DefaultResponseParam);
#endif
 
    if (HitResult.IsValidBlockingHit())
    {
        float Height = (Start.Z - HitResult.ImpactPoint.Z) / 100.0f;
        float HeightRounded = FMath::RoundToFloat(Height * 1000.0f) / 1000.0f;
 
        if (!FMath::IsNearlyEqual(DroneHeightFromGround, HeightRounded, 0.005f))
        {
            DroneHeightFromGround = HeightRounded;
 
            ROSMessage->_Data = DroneHeightFromGround;
            ROSTopic->Publish(ROSMessage);
 
            //FString HitActorName = HitResult.GetActor() ? HitResult.GetActor()->GetName() : TEXT("None");
            //UE_LOG(LogTemp, Log, TEXT("Drone is %f meters above ground. Hit object: %s"), DroneHeightFromGround, *HitActorName);
        }
    }
}

References DroneHeightFromGround, DroneSkeletalMesh, ROSMessage, ROSTopic, and World.

Referenced by Tick().

Member Data Documentation

◆ DroneHeightFromGround

float APIDDrone::DroneHeightFromGround = 0.0f

private

Definition at line 231 of file PIDDrone.h.

Referenced by UpdateGroundHeight().

◆ DroneParameters

FDroneParameters APIDDrone::DroneParameters

private

Definition at line 201 of file PIDDrone.h.

Referenced by AutoPilot(), GetCurrentWaypointTarget(), MoveDroneToPosition(), and SetFlightpath().

◆ DroneSkeletalMesh

USkeletalMeshComponent* APIDDrone::DroneSkeletalMesh = nullptr

private

Definition at line 212 of file PIDDrone.h.

Referenced by BeginPlay(), SetFlightpath(), and UpdateGroundHeight().

◆ flightmode

EFlightMode APIDDrone::flightmode = EFlightMode::Roaming

private

Definition at line 204 of file PIDDrone.h.

◆ manualControl

bool APIDDrone::manualControl = false

private

Definition at line 225 of file PIDDrone.h.

◆ passedWaypoints

int32 APIDDrone::passedWaypoints = 0

private

Definition at line 229 of file PIDDrone.h.

Referenced by GetCurrentWaypointTarget(), and SetFlightpath().

◆ PositionMesh

UStaticMeshComponent* APIDDrone::PositionMesh = nullptr

private

Definition at line 215 of file PIDDrone.h.

Referenced by BeginPlay(), and SetFlightpath().

◆ ROSMessage

TSharedPtr<ROSMessages::std_msgs::Float32> APIDDrone::ROSMessage

protected

Definition at line 162 of file PIDDrone.h.

Referenced by BeginPlay(), EndPlay(), and UpdateGroundHeight().

◆ ROSTopic

UTopic* APIDDrone::ROSTopic = nullptr

protected

Definition at line 160 of file PIDDrone.h.

Referenced by CreateTopic(), DestroyTopic(), and UpdateGroundHeight().

◆ ShowForwardArrow

bool APIDDrone::ShowForwardArrow = false

private

Definition at line 227 of file PIDDrone.h.

◆ StartingPosition

FVector APIDDrone::StartingPosition

private

Definition at line 209 of file PIDDrone.h.

Referenced by BeginPlay().

◆ waypointReached

bool APIDDrone::waypointReached = false

private

Definition at line 223 of file PIDDrone.h.

Referenced by SetFlightpath().

◆ WayPoints

TArray<FVector> APIDDrone::WayPoints

private

Initial value:

= {
        {3790, 8050, 5000},
        {11779.536955,6566.541435,5000}
    }

Definition at line 218 of file PIDDrone.h.

Referenced by AssignRoamingPoints().

◆ World

UWorld* APIDDrone::World = nullptr

private

Definition at line 207 of file PIDDrone.h.

Referenced by BeginPlay(), and UpdateGroundHeight().

The documentation for this class was generated from the following files:

Unreal/Agrarsense/Source/Agrarsense/Vehicle/PIDDrone.h
Unreal/Agrarsense/Source/Agrarsense/Vehicle/PIDDrone.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ APIDDrone()

Member Function Documentation

◆ AddWayPoint()

◆ AssignRoamingPoints()

◆ AutoPilot()

◆ BeginPlay()

◆ ChangeDroneParameters()

◆ ClearWaypoints()

◆ CreateTopic()

◆ DestroyTopic()

◆ EndPlay()

◆ GenerateRoamingPoints()

◆ GetCurrentWaypointTarget()

◆ GetDroneAction()

◆ GetDroneParameters()

◆ GetInteractableWorldTransform_Implementation()

◆ GetShowForwardArrow()

◆ GetVehicleType()

◆ IsRoaming()

◆ MoveDroneToPosition()

◆ ROSBridgeStateChanged()

◆ SetCurrentTransformToMovedFromGarageTransform()

◆ SetDesiredLocationMesh()

◆ SetDroneAction()

◆ SetDroneParameters()

◆ SetDroneRotation()

◆ SetFlightpath()

◆ SetManualControl()

◆ SetShowForwardArrow()

◆ Tick()

◆ UpdateGroundHeight()

Member Data Documentation

◆ DroneHeightFromGround

◆ DroneParameters

◆ DroneSkeletalMesh

◆ flightmode

◆ manualControl

◆ passedWaypoints

◆ PositionMesh

◆ ROSMessage

◆ ROSTopic

◆ ShowForwardArrow

◆ StartingPosition

◆ waypointReached

◆ WayPoints

◆ World